CN110871902A - Small-size shutdown device for logistics unmanned aerial vehicle and control method thereof - Google Patents
Small-size shutdown device for logistics unmanned aerial vehicle and control method thereof Download PDFInfo
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- CN110871902A CN110871902A CN201811004952.5A CN201811004952A CN110871902A CN 110871902 A CN110871902 A CN 110871902A CN 201811004952 A CN201811004952 A CN 201811004952A CN 110871902 A CN110871902 A CN 110871902A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
Abstract
The invention discloses a small-volume shutdown device for a logistics unmanned aerial vehicle and a control method thereof, wherein the device comprises a terrace body with a shutdown area as the center, a front and back righting mechanism, a left and right righting mechanism and a paddle righting mechanism for controlling the logistics unmanned aerial vehicle to occupy the smallest floor area when the logistics unmanned aerial vehicle stops; the front and rear righting mechanism comprises two push plates which are arranged on the upper surface of the plateau body, are positioned on the front and rear sides of the parking area and are driven to move front and rear in opposite directions; the left and right righting mechanism comprises two push blocks which are arranged on the upper surface of the plateau body, are positioned on the left and right sides of the parking area and are driven to move along the left and right opposite directions; the paddle righting mechanism comprises a paddle position detection mechanism for detecting the paddle of each rotor of the logistics unmanned aerial vehicle, the motor is in control connection with the paddle position detection mechanism to drive the paddle to stop at a set position, and the set position is located on the edge of the same polygon respectively.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a small-volume shutdown device for a logistics unmanned aerial vehicle and a control method thereof.
Background
Along with unmanned aerial vehicle in the application in fields such as commodity circulation transportation, agricultural plant protection and military investigation, unmanned aerial vehicle need land the assigned position at the airport and place the goods in this position at the transportation goods in-process, whether the person can not accomplish the autonomic transportation of goods, and the landing position needs the manual adjustment position often to appear in the landing process of current unmanned aerial vehicle, has caused very big inconvenience for unmanned aerial vehicle's use. Simultaneously, current unmanned aerial vehicle airport is in order to guarantee the normal parking of unmanned aerial vehicle, often is far greater than the wheel base of commodity circulation unmanned aerial vehicle to the size of airport design and the shared space of paddle diameter in addition, not only causes the commodity circulation unmanned aerial vehicle airport volume too huge like this, and the transport is inconvenient, but also causes the waste of a lot of spaces and resources and also brings a great deal of inconvenience for unmanned aerial vehicle's accurate descending or the position adjustment after falling simultaneously.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a small-volume logistics unmanned aerial vehicle shutdown device which can reduce the occupied area of an unmanned aerial vehicle as much as possible, can perform centering alignment after landing and is convenient for subsequent goods loading and unloading and the like.
The invention aims to overcome the defects of the prior art and provide a control method, which can effectively reduce the occupied area and improve the loading and unloading convenience of subsequent cargos.
The invention is realized by the following technical scheme:
a small-volume shutdown device for a logistics unmanned aerial vehicle comprises a terrace body with a shutdown area at the center, a front and rear righting mechanism, a left and right righting mechanism and a paddle righting mechanism for controlling the logistics unmanned aerial vehicle to reach the minimum floor area when the logistics unmanned aerial vehicle stops;
the front and rear righting mechanism comprises two push plates which are arranged on the upper surface of the plateau body, are positioned on the front and rear sides of the parking area and are driven to move front and rear in opposite directions;
the left and right righting mechanisms comprise two push blocks which are arranged on the upper surface of the plateau body, are positioned on the left and right sides of the parking area and are driven to move along the left and right sides in opposite directions;
the paddle righting mechanism comprises a paddle position detection mechanism for detecting the paddle of each rotor of the logistics unmanned aerial vehicle, a motor is connected with the paddle position detection mechanism in a control mode to drive the paddle to stop at a set position, wherein the set position is located on the edge of the same polygon respectively.
In the technical scheme, the front and back righting mechanism further comprises two first lead screw driving mechanisms extending left and right, the two first lead screw driving mechanisms are arranged on the upper surface of the plateau platform body and drive the push plate to move, the left and right righting mechanisms further comprise two second lead screw driving mechanisms extending front and back and used for driving the push block, the two second lead screw driving mechanisms are arranged on the lower bottom surface of the plateau platform body, the plateau platform body is provided with two limiting holes, and the push block penetrates out of the limiting holes to the upper surface of the plateau platform body to be in contact with the bottom of the cargo bin of the logistics unmanned aerial vehicle.
In the technical scheme, the logistics unmanned aerial vehicle is a multi-rotor unmanned aerial vehicle.
In the above technical solution, the paddle position detection mechanism is an encoder or a reflective infrared position sensor.
In the above technical solution, the blade position detecting mechanism includes a magnetic ring fixedly disposed corresponding to the rotating shaft of the rotor, and a magnetic encoder disposed corresponding to the magnetic ring or two hall sensors disposed at 90 degrees, wherein the magnetic encoder or the hall sensors are fixed on the circuit board.
In the technical scheme, still include and do commodity circulation unmanned aerial vehicle charge the mechanism of charging, it is in including setting up the charging seat in commodity circulation unmanned aerial vehicle's warehouse and install the ejector pad on and with the charging joint that charges that the charging seat corresponds, the joint that charges be connected with power supply.
In the technical scheme, the power supply is connected with the charging connector through the relay.
In the technical scheme, the inner bottom surface of the charging seat is provided with the bullet needle holes, and the charging connector is provided with the bullet needles which are distributed in one-to-one correspondence with the bullet needle holes.
In the above technical solution, the charging base is a quadrangular frustum pyramid shaped cavity structure for guiding the insertion of the charging connector, wherein the peripheral side of the charging base is provided with fixing lugs for fixedly connecting with the cargo compartment.
In the technical scheme, the warehouse is of a square hollow frame structure, and the lower bottom surface of the cross beam at the lower part of the warehouse is of an arc surface structure.
A control method of a small-volume logistics unmanned aerial vehicle shutdown device comprises the following steps,
1) controlling the logistics unmanned aerial vehicle to land on the terrace body and then carrying out blade righting;
2) the front and back righting mechanisms and the left and right righting mechanisms are driven to center the logistics unmanned aerial vehicle.
In the above technical solution, two hall sensors are used for blade alignment in step 1), and the control method includes:
11) normalizing the measuring angles of the two Hall sensors at a specific moment by taking the clockwise direction as a positive direction and the anticlockwise direction as a negative direction, judging the blade phase at the specific moment according to the positive and negative values after normalization,
12) comparing sine values of the measurement angles normalized by the two Hall sensors to obtain the magnitude of a tangent value corresponding to the blade angle at a specific moment;
13) determining the position angle of a specific moment according to the phase of the blade at the specific moment and the magnitude of the tangent value;
14) controlling the motor and enabling the position angle to reach a corresponding positive position angle when the blade is in the positive position;
the specific moment is the moment when the blade stops after the unmanned aerial vehicle stops or the moment when the unmanned aerial vehicle rotates at a low speed to start the righting process.
The invention has the advantages and beneficial effects that:
the small-size shutdown device for the logistics unmanned aerial vehicle is simple in structure and convenient to use, and can be used for centering the logistics unmanned aerial vehicle through the centering mechanism so that the unmanned aerial vehicle can reach a specified position. The small-size type shutdown device for the logistics unmanned aerial vehicle and the control method thereof adopt the detection mechanism and the motor of the blades to be matched for use, the reason of how large the parking occupied area of the unmanned aerial vehicle is caused can be sharply found by the blade righting control method, the righting parking of the blades is realized by regulating the blades of the rotors of the unmanned aerial vehicle on the same regular polygon or on an approximate regular polygon, the situation that the occupied area is increased due to the irregular parking of the blades is avoided, the actual occupied area is the circumscribed circle of the regular polygon, the situation that the size of the unmanned aerial vehicle airport is increased due to the diameter of the blades is reduced, and the space occupation convenience is brought to the continuous action of the unmanned aerial vehicle after the unmanned aerial vehicle is parked for a short time and a long time or is parked. And the parking of the furled blades avoids the interference or impact of external factors on the blades, and improves the use safety and the service life of the whole unmanned aerial vehicle.
Drawings
Fig. 1 is a schematic structural diagram of a small-volume logistics unmanned aerial vehicle shutdown device of the invention.
Fig. 2 is a schematic structural diagram of a blade righting mechanism (two hall sensors are used as a detection mechanism) of the small-volume shutdown device for the logistics unmanned aerial vehicle.
Fig. 3 is a normalized quadrant distribution diagram of the blade righting control method of the logistics unmanned aerial vehicle of the invention.
Fig. 4 is a data sampling diagram of two hall sensors in the blade righting control method of the logistics unmanned aerial vehicle.
Wherein:
1: front and back position correcting mechanism, 1-1: push plate, 1-2: first lead screw drive mechanism, 2: left and right position correcting mechanism, 2-1: a push block, 2-2: second screw drive mechanism, 3: charging mechanism, 3-1: charging seat, 3-2: charging connector, 4: plateau body, 4-1: limiting hole, 5: blade righting mechanism, 5-1: blade, 5-2: motor, 5-3: magnetic ring, 5-4: circuit board, 5-5: first hall sensor, 5-6: second hall sensor, 6: commodity circulation unmanned aerial vehicle, 7: and in the cargo compartment, A is a data acquisition line of a position point detected by the first Hall sensor, and B is a data acquisition line of a position point detected by the second Hall sensor.
For a person skilled in the art, other relevant figures can be obtained from the above figures without inventive effort.
Detailed Description
In order to make the technical solution of the present invention better understood, the technical solution of the present invention is further described below with reference to fig. 1 to 4 and specific examples.
Example 1
A small-volume shutdown device for a logistics unmanned aerial vehicle comprises a terrace body 4 with a shutdown area at the center, a front and rear righting mechanism 1, a left and right righting mechanism 2 and a blade righting mechanism 5 for controlling the smallest occupied area when a logistics unmanned aerial vehicle 6 stops;
the front and back righting mechanism 1 comprises two push plates 1-1 which are arranged on the upper surface of the plateau platform body 4, are positioned on the front and back sides of the parking area and are driven to move front and back in opposite directions;
the left and right righting mechanism 2 comprises two push blocks 2-1 which are arranged on the upper surface of the plateau body 4, are positioned on the left and right sides of the parking area and are driven to move along the left and right opposite directions;
the paddle righting mechanism 5 comprises a paddle position detection mechanism for detecting a paddle 5-1 of each rotor of the logistics unmanned aerial vehicle 6, and a motor 5-2 is in control connection with the paddle position detection mechanism to drive the paddle 5-1 to stop at a set position, wherein the set positions are respectively located on the edge of the same polygon.
The small-size shutdown device for the logistics unmanned aerial vehicle is simple in structure and convenient to use, and can be used for centering the logistics unmanned aerial vehicle through the centering mechanism so that the unmanned aerial vehicle can reach a specified position. The small-size type shutdown device for the logistics unmanned aerial vehicle and the control method thereof adopt the detection mechanism and the motor of the blades to be matched for use, the reason of how large the parking occupied area of the unmanned aerial vehicle is caused can be sharply found by the blade righting control method, the righting parking of the blades is realized by regulating the blades of the rotors of the unmanned aerial vehicle on the same regular polygon or on an approximate regular polygon, the situation that the occupied area is increased due to the irregular parking of the blades is avoided, the actual occupied area is the circumscribed circle of the regular polygon, the situation that the size of the unmanned aerial vehicle airport is increased due to the diameter of the blades is reduced, and the space occupation convenience is brought to the continuous action of the unmanned aerial vehicle after the unmanned aerial vehicle is parked for a short time and a long time or is parked. And the parking of the furled blades avoids the interference or impact of external factors on the blades, and improves the use safety and the service life of the whole unmanned aerial vehicle.
Further, the front and back righting mechanism 1 further comprises two first lead screw driving mechanisms 1-2 extending left and right, the two first lead screw driving mechanisms 1-2 are arranged on the upper surface of the terrace body 4 and drive the push plate to move, the left and right righting mechanism 2 further comprises two second lead screw driving mechanisms 2-2 extending front and back and used for driving the push block, the two second lead screw driving mechanisms 2-2 are arranged on the lower bottom surface of the terrace body 4, the terrace body 4 is provided with two limiting holes 4-1, and the push block 2-1 penetrates out of the limiting holes 4-1 to the upper surface of the terrace body to be in contact with the bottom of the cargo compartment of the logistics unmanned plane. Wherein, the front and back righting mechanism 1 and the left and right righting mechanism 2 are both in communication connection with the controller.
Two limiting holes 4-1 are formed in the two second lead screw driving mechanisms 2-2 of the plateau platform body 4, the length of each limiting hole 4-1 is the same as that of the lead screw of the second lead screw driving mechanism 2-2, the push block 2-1 is limited in the limiting hole 4-1, and the two limiting holes 4-1 are arranged in the shutdown area.
Further, the front and back righting mechanism 1, the left and right righting mechanism 2 and the blade righting mechanism are all controlled by a controller, and the controller is a PLC controller.
Example 2
Based on embodiment 1, in order to ensure the centering and righting condition of the logistics unmanned aerial vehicle 6, the platform body 4 is provided with a limiting mechanism for ensuring the centering and righting condition of the logistics unmanned aerial vehicle 6, the limiting mechanism comprises two first position sensors respectively arranged on the two first lead screw driving mechanisms 1-2 and two second position sensors respectively arranged on the two second lead screw driving mechanisms 2-2, the two first position sensors and the two second position sensors are both in communication connection with the controller, wherein the two first position sensors are respectively used for limiting the initial positions of the two ends of the two push plates 1-1 (the two push plates 1-1 can push the logistics unmanned aerial vehicle 6 to achieve centering and righting in the front and back directions in the moving process), and transmitting the limiting signal to the controller, the controller correspondingly stops the work of the first lead screw driving mechanisms 1-2 according to the received limiting signal, the two push plates 1-1 stop moving, then the controller controls the motors of the two second screw driving mechanisms 2-2 to start, the two second position sensors respectively detect position signals of the push blocks 2-1 of the two second screw driving mechanisms 2-2 (the two push blocks 2-1 can push the logistics unmanned aerial vehicle 6 to realize left-right righting in the moving process), when the signals are triggered, the controller controls the motors of the two second screw driving mechanisms 2-2 to stop rotating, the two push blocks 2-1 stop moving at the same time, wherein the two first screw driving mechanisms 1-2 and the two second screw driving mechanisms 2-2 can adopt ball screw driving mechanisms, and the controller is a PLC controller.
The small-size shutdown device for the logistics unmanned aerial vehicle adopts the limiting mechanism to be matched with the two first lead screw driving mechanisms 1-2 and the two second lead screw driving mechanisms 2-2 for use to center and position the logistics unmanned aerial vehicle 6, and is convenient to use.
Preferably, the two push blocks 2-1 are respectively driven by the two second lead screw driving mechanisms 2-2, after the push plate 1-1 is positioned in the middle, the logistics unmanned aerial vehicle 6 is pushed by one side, such as the left push block 2-1, to adjust the position in the left-right direction until the logistics unmanned aerial vehicle is triggered to the corresponding second position sensor, and then the other side, namely the right push block 2-1, is driven to act to realize the butt joint of the charging connector 3-2, so that the moving distance of the push block 2-1 on the charging side is reduced, and the butt joint precision is improved.
Example 3
Preferably, the logistics unmanned aerial vehicle 6 charging mechanism is further included, the charging mechanism 3 can also be set to include two charging seats 3-1 which are respectively arranged on two sides of the cargo bin 7 and used for charging the logistics unmanned aerial vehicle 6 and two charging connectors 3-2 which are respectively arranged on the two push blocks 2-1 and correspond to the two charging seats 3-1 one by one, and the two charging connectors 3-2 are both connected with a power supply. The two charging seats 3-1 can ensure that one charging seat 3-1 can still be charged normally when a problem occurs. The two connecting plugs can also realize the separate arrangement of the anode and the cathode.
The small-size logistics unmanned aerial vehicle 6 with the stopping device is simple in structure and convenient to use, the blade righting mechanism is adopted to right the blades, then the push plate 1-1 and the push block 2-1 are adopted to adjust the logistics unmanned aerial vehicle 6 staying in the stopping area to be centered so that the unmanned aerial vehicle can reach a specified position to conveniently load and unload goods in the warehouse 7, and the push block 2-1 is adopted to complete the contraposition of the logistics unmanned aerial vehicle 6 and charge the logistics unmanned aerial vehicle 6.
Specifically, the charging seat 3-1 is arranged to be a quadrangular frustum pyramid shaped cavity structure for guiding the charging connector 3-2 to be inserted, fixing lugs are arranged on the periphery of the charging seat 3-1 and can clamp the charging seat 3-1 on a lower cross beam of the cargo bin 7, wherein the periphery of the cavity structure is provided with a 1cm fault-tolerant distance relative to the charging connector 3-2 and is used for ensuring that the charging connector 3-2 is inserted on the charging seat 3-1; the inner bottom surface of the charging seat 3-1 is provided with elastic pin holes, the charging connector 3-2 is provided with elastic pins which are in one-to-one correspondence with the elastic pin holes, and the charging connector 3-2 is conveniently butted with the charging seat 3-1; the bullet pinhole is the bullet pinhole that charges or communication bullet pinhole, and the bullet needle is the bullet needle that charges or communication bullet needle. The charging connector 3-2 is arranged on the corresponding push block 2-1 through a mounting seat (the mounting seat is of an L-shaped structure, so that the push block 2-1 can conveniently insert the charging connector 3-2 on the charging seat 3-1) and movably arranged on the upper surface of the terrace body 4 after penetrating through the limiting hole 4-1, a cargo bin 7 for loading is arranged below the logistics unmanned aerial vehicle 6, the cargo bin 7 is of a square hollow frame structure, and the lower bottom surfaces of the peripheral beams below the cargo bin 7 are all of cambered surface structures so as to reduce the contact area with the terrace body 4 and facilitate pushing and positioning; the power supply is connected with the charging connector 3-2 through a relay, the relay is in communication connection with the controller, and the power supply can adopt a storage battery.
The specific implementation mode is as follows: the two second screw rod driving mechanisms 2-2 are used for righting the logistics unmanned aerial vehicle 6 left and right, the controller controls the second screw rod driving mechanism 2-2 righting the left side of the logistics unmanned aerial vehicle 6 to work, when the push block 2-1 of the second screw rod driving mechanism 2-2 pushes the logistics unmanned aerial vehicle 6 to adjust the position in the left and right directions until the logistics unmanned aerial vehicle is triggered to a corresponding second position sensor, the second position sensor transmits a limit signal to the controller, and the controller controls the push block 2-1 to stop according to the limit signal (when the charging connectors 3-2 are arranged on the two sides, at the moment, the charging connector 3-2 on the side is in butt joint with the charging seat 3-1 on the side, namely, a bullet pin on the charging connector 3-2 is inserted into a bullet pin hole of the charging seat 3-1); the controller controls the second screw rod driving mechanism 2-2 which is right on the right side of the logistics unmanned aerial vehicle 6 to work, the push block 2-1 of the second screw driving mechanism 2-2 drives the charging connector 3-2 of the side to move towards the charging seat 3-1 of the side, when the push block 2-1 of the side triggers the second sensor of the side, the second position sensor transmits a limit signal to the controller, the controller controls the push block 2-1 on the side to stop according to the limit signal (at the moment, the charging connector 3-2 on the side is in butt joint with the charging seat 3-1 on the side, namely, a pin on the charging connector 3-2 is inserted into a pin hole of the charging seat 3-1), the controller controls the relay to act, and the power supply is communicated with the charging connector 3-2 and charges the logistics unmanned aerial vehicle 6.
The small-size shutdown device for the logistics unmanned aerial vehicle adopts the controller to control the power supply to carry out power storage supply on the logistics unmanned aerial vehicle 6 through the relay, avoids the situation that goods are thrown for prolonging the working time of the logistics unmanned aerial vehicle 6, reduces personnel operation, reduces a large amount of labor cost, is safe and convenient, and adopts the two second lead screw driving mechanisms 2-2 to carry out left-right centering and righting and charging on the logistics unmanned aerial vehicle 6.
Example 4
The logistics unmanned aerial vehicle 6 is a multi-rotor unmanned aerial vehicle, wherein the multi-rotor logistics unmanned aerial vehicle 6 comprises a blade position detection mechanism arranged corresponding to each rotor, the motor 5-2 position detection mechanism is controllably connected with the motor 5-2 of the rotor so as to stop the blade 5-1 at a set position, and the set positions are respectively positioned on the sides of a regular polygon concentric with the logistics unmanned aerial vehicle 6.
Wherein, the motor 5-2 position sensor is an encoder or a reflective infrared position sensor. Or the position sensor of the motor 5-2 comprises a magnetic ring 5-3 which is fixedly arranged corresponding to the rotating shaft of the rotor wing, a magnetic encoder which is arranged corresponding to the magnetic ring 5-3 or two Hall sensors which are arranged in a 90-degree manner, and the magnetic encoder or the Hall sensors are fixed on the circuit board 5-4.
The utility model has the advantages of adopt various types of paddle 5-1 position detection mechanism, based on the structural feature of many rotors, realized 5-1 normal positions of paddle when parking, the effectual space that uses after having reduced many rotors of commodity circulation unmanned aerial vehicle descend, solved the airport must design the pain point that unmanned aerial vehicle was accomodate to the large size. Particularly, the Hall sensor is small in size, is an integrated chip, can be directly embedded into the circuit board 5-4, and is convenient in structure; the low price, practice thrift the cost, it is convenient to reform transform moreover, easily realizes on current unmanned aerial vehicle.
The control method is characterized in that the blade righting mechanism 5 comprises a detection mechanism for detecting the position of a blade 5-1 of each rotor of the logistics unmanned aerial vehicle 6 and a motor 5-2 for driving the blade 5-1 of the rotor, the detection mechanism is in controlled connection with the motor 5-2 to enable the blade 5-1 to be parked at a set position for ensuring that the logistics unmanned aerial vehicle 6 has the minimum area when being parked on the terrace body 4, wherein the set position is respectively positioned on the edge of the same polygon such as a regular polygon concentric with the multi-rotor unmanned aerial vehicle, namely, the central axes of the blades 5-1 are correspondingly enclosed into one or approximately one regular polygon, if the angular deviation between the central axis of the blade 5-1 and the corresponding edge is not within +/-5 degrees, preferably +/-1-3 degrees, wherein the number of the edges of the regular polygon is the same as the number of the rotors of the unmanned aerial vehicle, if six rotor unmanned aerial vehicle, then constitute regular hexagon.
The parking device for the small-volume logistics unmanned aerial vehicle 6 adopts a detection mechanism and a motor 5-2 of the blade 5-1 to be matched with each other, so that the reason of large parking occupied area of the unmanned aerial vehicle can be sharply found through a method for controlling the blade 5-1 in a positive position, the blades 5-1 of each rotor of the logistics unmanned aerial vehicle 6 are arranged on the same regular polygon or on an approximate regular polygon, the positive position parking of the blades 5-1 is realized, the situation that the occupied area is increased due to the irregular parking of the blades 5-1 is avoided, the actual occupied area is the circumscribed circle of the regular polygon, and the situation that the size of an airport of the logistics unmanned aerial vehicle 6 is increased due to the diameter of the blades 5-1 is reduced The space occupation convenience is brought to the continuous action of the logistics unmanned aerial vehicle 6 after short-time and long-time parking or parking. And the folded blades 5-1 are parked, so that the interference or impact of external factors on the blades 5-1 is avoided, and the use safety and the service life of the integral logistics unmanned aerial vehicle 6 are improved.
Specifically, in order to detect the position of each blade 5-1 after the logistics unmanned aerial vehicle 6 falls, the low-speed rotation or stop of each rotor wing is controlled, and then the position detection of the blade 5-1 is realized through the position measuring and sensing mechanism of the motor 5-2 so as to control the normal position. It should be noted that the control of the low-speed rotation of each rotor can be the low-speed rotation in the landing process of the unmanned aerial vehicle, so that the landing of the logistics unmanned aerial vehicle 6 and the synchronous operation of the blades 5-1 are realized, the blades 5-1 can be driven to rotate at a very low speed after the logistics unmanned aerial vehicle 6 is completely parked so as to realize the detection and the driving of the positions of the blades 5-1 and park at the set positions, or the blades 5-1 are driven to directly make the blades 5-1 reach the set positions according to the detected current position information of the blades 5-1 after the blades 5-1 are completely parked and stop rotating.
Preferably, the motor 5-2 position sensor is an encoder or a reflective infrared position sensor. The optional structure of encoder is the photoelectricity code wheel that the center has the axle, has annular to lead to, dark groove on it, has photoelectric emission and receiving device to read and realize the judgement of pivot position promptly paddle 5-1 position, of course, also can adopt the reflective position sensor who sets up on 6 organisms of commodity circulation unmanned aerial vehicle, for example reflective infrared sensor realizes, also can realize just berthing or approximate just berthing through utilizing paddle 5-1 to the reflection of infrared ray, reaches the purpose that final reduction area was taken.
In order to detect the position of the blade 5-1, the position sensor of the motor 5-2 comprises a magnetic ring 5-3 which is fixedly arranged corresponding to a rotating shaft of the rotor wing, and two Hall sensors (a first Hall sensor 5-5 and a second Hall sensor 5-6) which are arranged corresponding to the magnetic ring 5-3 and are distributed at 90 degrees.
Specifically, a magnetic ring 5-3 is installed on the rotating shaft of the rotor, such as the shaft of a motor 5-2, the NS pole of the rotor is found out through a magnetometer, a Hall sensor is installed on a circuit board 5-4 at a position which is 35mm away from the magnetic ring 5-3, the magnetic ring 5-3 rotates along with the motor 5-2, but the circuit board 5-4 is fixed, when the motor 5-2 rotates, the field intensity of a magnetic field above the Hall sensor changes, and the field intensity above the Hall sensor also changes through detection of the change, so that the voltage change on the Hall sensor is caused, namely, the position of the motor 5-2 (namely, the actual position of the blade 5-1) can be measured through detection of the voltage change of the Hall sensor. And inputting the voltage measured by the Hall sensor into a flight control system by AD conversion, and controlling the position of the motor 5-2, namely realizing the position correction.
Because the magnetic ring 5-3 changes in a sine curve, but one value corresponds to two angles in each pi, the angle cannot be determined, and another hall sensor is needed to further determine which angle is, and the true position of the blade 5-1 and the position angle of the blade 5-1 can be well judged by combining the sine and cosine relationship.
The specific analysis steps comprise: on a turntable with a marked angle, a motor 5-2 is rotated, ADC data corresponding to two Hall sensors at corresponding positions are obtained through flight control, the ADC data are converted into voltage values through a sampling circuit, conversion results are recorded, normalization processing is carried out on the data through a matlab mathematical tool, the relation between the position of the motor 5-2 and the ADC sampling data of the two Hall sensors is obtained, and from the result of sampled data analysis, the voltage relation corresponding to the two Hall sensors at different positions of a magnetic ring 5-3 is a sine-cosine relation. And the phase angle difference between the cosine curve and the sine curve is 90 degrees, and the phase difference is exactly consistent with the placing position difference. Therefore, the relative position of the motor 5-2 can be obtained according to the position of the magnetic ring 5-3. And the motor 5-2 is ensured not to interfere the magnetic ring 5-3, and an ideal sine curve can be fitted.
When the logistics unmanned aerial vehicle 6 lands on an airport parking platform, all the blades 5-1 need to be righted, the specific control method is as follows,
1) taking the clockwise direction as the positive direction and the anticlockwise direction as the negative direction, normalizing the measurement angles of the two Hall sensors at a specific moment to +/-pi, judging the positive and negative of the blade angle at the specific moment according to the normalized positive and negative, namely judging the phase of the blade 5-1 at the specific moment, and performing quadrant judgment according to the positive and negative of the angle values detected by the two Hall sensors;
2) comparing sine values of the measurement angles normalized by the two Hall sensors to obtain the magnitude of a tangent value corresponding to the blade angle at a specific moment;
3) determining the position angle of the specific moment according to the blade phase and the tangent value at the specific moment;
4) controlling a motor 5-2 and enabling the position angle to reach a corresponding positive position angle when the blade is in the positive position; for example, the forward and reverse rotation control of the motor 5-2 can be performed based on the difference between the position angle and the normal position angle.
The specific moment is the moment when the blade 5-1 stops after the unmanned aerial vehicle stops, or the moment when the logistics unmanned aerial vehicle 6 rotates at a low speed, and the righting process is started. The sine and cosine functions have low resolution near the extreme value, the tangent function just makes up the two defects, the extreme value exists at the position of +/-pi/2, the tan (89 degrees) is calculated to be 57.29, the normal floating point number belongs to, and the requirement on the normal precision can be effectively met.
The sine value is used as the calculation, and of course, the corresponding cosine value may also be used, and when there is incomparable, that is, corresponding to ± pi/2, the corresponding tangent value may be directly assigned, for example, the tangent value is directly assigned to 57.29, or a larger reasonable value is assigned to improve the accuracy.
Meanwhile, in order to obtain the normal position angle corresponding to the normal position in the step 4 of the paddle 5-1, the paddle 5-1 is firstly shifted to the normal position, and the angle corresponding to the normal position, namely the normal position angle, can be obtained by adopting the step 1-3, and is an initial set value.
When a magnetic encoder is used, the specific control is similar to that described above, and detailed description is omitted.
Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used in the embodiments for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "lower" can encompass both an upper and a lower orientation. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Moreover, relational terms such as "first" and "second," and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.
The invention has been described in an illustrative manner, and it is to be understood that any simple variations, modifications or other equivalent changes which can be made by one skilled in the art without departing from the spirit of the invention fall within the scope of the invention.
Claims (10)
1. A small-volume type logistics unmanned aerial vehicle parking device is characterized by comprising a terrace body (4) with a parking area at the center, a front and rear righting mechanism (1), a left and right righting mechanism (2) and a paddle righting mechanism (5) for controlling the logistics unmanned aerial vehicle (6) to occupy the smallest floor area when parking;
the front and rear righting mechanism (1) comprises two push plates (1-1) which are arranged on the upper surface of the plateau platform body (4), are positioned on the front side and the rear side of the parking area and are driven to move front and rear in opposite directions;
the left and right righting mechanisms (2) comprise two push blocks (2-1) which are arranged on the upper surface of the plateau platform body (4), are positioned on the left and right sides of the parking area and are driven to move along the left and right opposite directions;
the paddle righting mechanism (5) comprises a paddle position detection mechanism for detecting a paddle (5-1) of each rotor of the logistics unmanned aerial vehicle (6), a motor (5-2) is in control connection with the paddle position detection mechanism to drive the paddle (5-1) to stop at a set position, wherein the set position is located on the edge of the same polygon respectively.
2. The small-volume logistics unmanned aerial vehicle shutdown device of claim 1, the front and back righting mechanism (1) also comprises two first lead screw driving mechanisms (1-2) which extend leftwards and rightwards, the two first lead screw driving mechanisms (1-2) are arranged on the upper surface of the plateau body (4) and drive the push plate to move, the left and right righting mechanism (2) also comprises two second lead screw driving mechanisms (2-2) which extend forwards and backwards and are used for driving the push block, the two second lead screw driving mechanisms (2-2) are arranged on the lower bottom surface of the plateau body (4), the automatic storage device is characterized in that the plateau platform body (4) is provided with two limiting holes (4-1), and the push block (2-1) penetrates out of the limiting holes (4-1) to the upper surface of the plateau platform body to be in contact with the bottom of a cargo compartment of the logistics unmanned aerial vehicle.
3. The shutdown device for the small-volume logistics unmanned aerial vehicle of claim 1, characterized in that the logistics unmanned aerial vehicle (6) is a multi-rotor unmanned aerial vehicle.
4. The shutdown device for the small-volume logistics unmanned aerial vehicle as claimed in claim 1, wherein the paddle position detection mechanism is an encoder or a reflective infrared position sensor.
5. The shutdown device for the small-volume logistics unmanned aerial vehicle as claimed in claim 4, wherein the blade position detection mechanism comprises a magnetic ring (5-3) fixedly arranged corresponding to the rotating shaft of the rotor, and a magnetic encoder or two Hall sensors arranged corresponding to the magnetic ring (5-3) and arranged at 90 degrees, wherein the magnetic encoder or the Hall sensors are fixed on a circuit board.
6. The small-volume logistics unmanned aerial vehicle shutdown device according to claim 2, further comprising a charging mechanism for charging the logistics unmanned aerial vehicle (6), wherein the charging mechanism comprises a charging seat (3-1) arranged on a cargo bin (7) of the logistics unmanned aerial vehicle (6) and a charging connector (3-2) installed on the push block (2-1) and corresponding to the charging seat (3-1), and the charging connector (3-2) is connected with a power supply.
7. The shutdown device for the small-volume logistics unmanned aerial vehicle as claimed in claim 6, wherein the power supply is connected with the charging connector (3-2) through a relay.
8. The small-volume logistics unmanned aerial vehicle stopping device as claimed in claim 6, wherein the inner bottom surface of the charging seat (4-1) is provided with pin ejecting holes, and the charging joint (4-2) is provided with pin ejecting holes distributed in a one-to-one correspondence manner.
9. A control method of the shutdown device for the small-volume logistics unmanned aerial vehicle of any one of claims 1 to 8, comprising the steps of,
1) controlling the logistics unmanned aerial vehicle to land on the terrace body and then carrying out blade righting;
2) the front and back righting mechanisms and the left and right righting mechanisms are driven to center the logistics unmanned aerial vehicle.
10. The control method of claim 9, wherein the step 1) uses two hall sensors for blade alignment, and the control method comprises:
11) the clockwise direction is taken as the positive direction, the anticlockwise direction is taken as the negative direction, the measuring angles of the two Hall sensors at the specific moment are normalized, the phase of the paddle (5-1) at the specific moment is judged according to the positive and negative after normalization,
12) comparing sine values of the measurement angles normalized by the two Hall sensors to obtain the magnitude of a tangent value corresponding to the angle of the blade (5-1) at a specific moment;
13) determining the position angle of a specific moment according to the phase of the blade (5-1) at the specific moment and the magnitude of the tangent value;
14) controlling the motor and enabling the position angle to reach a corresponding positive position angle when the blade (5-1) is in the positive position;
the specific moment is the moment when the blade (5-1) stops after the unmanned aerial vehicle stops, or the moment when the unmanned aerial vehicle rotates at a low speed, and the righting process is started.
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